VISHARD10, a novel hyper-redundant haptic interface
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
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This paper treats the kinematic control of manipulators with redundant degrees of freedom. We derive an analytical solution for the inverse kinematics that provides a means for accommodating joint velocity constraints in real time. We define the motion optimizability measure and use it to develop an efficient method for the optimization of joint trajectories subject to multiple criteria. An implementation of the method for a 7-dof experimental redundant robot is present